1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
|
#!/usr/bin/env python
from typing import TypeVar
import cv2 as cv
import cv2.aruco as aruco
import numpy
all_aruco_markers_dictionaries = {
'DICT_4X4_50': aruco.DICT_4X4_50,
'DICT_4X4_100': aruco.DICT_4X4_100,
'DICT_4X4_250': aruco.DICT_4X4_250,
'DICT_4X4_1000': aruco.DICT_4X4_1000,
'DICT_5X5_50': aruco.DICT_5X5_50,
'DICT_5X5_100': aruco.DICT_5X5_100,
'DICT_5X5_250': aruco.DICT_5X5_250,
'DICT_5X5_1000': aruco.DICT_5X5_1000,
'DICT_6X6_50': aruco.DICT_6X6_50,
'DICT_6X6_100': aruco.DICT_6X6_100,
'DICT_6X6_250': aruco.DICT_6X6_250,
'DICT_6X6_1000': aruco.DICT_6X6_1000,
'DICT_7X7_50': aruco.DICT_7X7_50,
'DICT_7X7_100': aruco.DICT_7X7_100,
'DICT_7X7_250': aruco.DICT_7X7_250,
'DICT_7X7_1000': aruco.DICT_7X7_1000,
'DICT_ARUCO_ORIGINAL': aruco.DICT_ARUCO_ORIGINAL,
'DICT_APRILTAG_16h5': aruco.DICT_APRILTAG_16h5,
'DICT_APRILTAG_25h9': aruco.DICT_APRILTAG_25h9,
'DICT_APRILTAG_36h10': aruco.DICT_APRILTAG_36h10,
'DICT_APRILTAG_36h11': aruco.DICT_APRILTAG_36h11
}
"""Dictionnary to list all built-in ArUco markers dictionaries from OpenCV ArUco package."""
ArUcoMarkerType = TypeVar('ArUcoMarker', bound="ArUcoMarker")
# Type definition for type annotation convenience
class ArUcoMarkersDictionary():
"""Handle an ArUco markers dictionary."""
def __init__(self, name):
if all_aruco_markers_dictionaries.get(name, None) is None:
raise NameError(f'Bad ArUco markers dictionary name: {name}')
self.__name = name
dict_name_split = name.split('_')
self.__format = dict_name_split[1]
# DICT_ARUCO_ORIGINAL case
if self.__format == 'ARUCO':
self.__format = '5X5'
self.__number = 1024
# DICT_APRILTAG case
elif self.__format == 'APRILTAG':
april_tag_format = dict_name_split[2]
if april_tag_format == '16h5':
self.__format = '4X4'
self.__number = 30
elif april_tag_format == '25h9':
self.__format = '5X5'
self.__number = 30
elif april_tag_format == '36h10':
self.__format = '6X6'
self.__number = 2320
elif april_tag_format == '36h11':
self.__format = '6X6'
self.__number = 587
# other cases
else:
self.__number = int(dict_name_split[2])
self.__aruco_dict = aruco.Dictionary_get(all_aruco_markers_dictionaries[self.__name])
@property
def name(self)-> str:
"""Get dictionary name."""
return self.__name
@property
def markers(self) -> aruco.Dictionary:
"""Get all markers from dictionary."""
return self.__aruco_dict
@property
def format(self) -> str:
"""Get markers format."""
return self.__format
@property
def number(self) -> int:
"""Get number of markers inside dictionary."""
return self.__number
def create_marker(self, i, size) -> ArUcoMarkerType:
"""Create a marker."""
if i >= 0 and i < self.__number:
from argaze.ArUcoMarkers import ArUcoMarker
return ArUcoMarker.ArUcoMarker(self, i, size)
else:
raise ValueError(f'Bad index: {i}')
def save(self, destination_folder, size, dpi):
"""Save all markers dictionary into separated .png files."""
for i in range(self.__number):
self.create_marker(i, size).save(destination_folder, dpi)
|
